version: 66.11
glider: 181
mission: 11
dive: 211
start: 6 14 113 1 12 54
data:
$ID,181
$MISSION,11
$DIVE,211
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,290
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96008.875
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140613,010321,2325.753,12453.294,11,2.9,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-73.2
$GPS2,140613,011227,2325.822,12453.399,15,2.3,34,-3.4
$SPEED_LIMITS,0.197,0.263
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,206.6,233405,-14.7,-11.379,-23.37,3050
$D_GRID,5594
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-243.3,204,2475,1165,1153,0.0,0.0,0,93,0.00,0.00,-71.90,0.000,16386,0.000,0.000,203,2476,2991,3042,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.10,-243.3,204,2476,3034,2941,3.6,-12.1,13,128,9.45,2.30,-16.15,0.000,18948,0.376,0.063,2337,1060,3965,4006,3925,0,0,0,0,0,0,14.41,14.71,14.94
$GC,170,-1.10,-243.3,2337,1060,4003,3929,36.0,-37.4,24,175,0.00,2.25,0.00,0.000,1030,0.000,0.059,2329,2431,3965,4003,3928,0,0,0,0,0,0,28.83,14.72,28.83
$GC,493,-1.10,-243.3,2331,2431,4002,3932,161.3,-35.4,42,498,0.00,2.20,0.00,0.000,260,0.000,0.071,2319,3780,3966,4001,3932,0,0,0,0,0,0,28.83,14.76,28.83
$GC,524,-1.10,-243.3,2319,3781,4001,3932,169.0,-35.2,43,530,0.00,2.03,0.00,0.000,1030,0.000,0.034,2319,2453,3966,4001,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,837,-1.10,-243.3,2319,2447,4001,3933,268.4,-28.5,59,842,0.00,2.17,0.00,0.000,260,0.000,0.073,2308,3780,3967,4001,3933,0,0,0,0,0,0,28.83,14.83,28.83
$GC,924,-1.10,-243.3,2308,3781,4001,3934,292.0,-28.7,63,930,0.15,2.03,0.00,0.000,3078,0.278,0.032,2341,2429,3967,4001,3934,0,0,0,0,0,0,14.64,14.93,28.83
$GC,1242,-1.10,-243.3,2342,2422,3997,3937,375.0,-25.1,79,1247,0.00,2.22,0.00,0.000,260,0.000,0.073,2333,3780,3966,3997,3936,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1285,-1.10,-243.3,2333,3780,3997,3936,386.4,-25.7,81,1290,0.00,2.00,0.00,0.000,1030,0.000,0.033,2334,2463,3966,3997,3936,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1607,-1.10,-243.3,2334,2453,3997,3934,467.1,-24.1,97,1613,0.00,2.20,0.00,0.000,260,0.000,0.076,2323,3789,3965,3997,3934,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1710,-1.10,-243.3,2320,3789,3997,3933,492.4,-24.5,102,1716,0.00,2.03,0.00,0.000,1030,0.000,0.034,2323,2446,3965,3997,3933,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2033,-1.10,-243.3,2323,2439,3998,3928,570.2,-23.9,118,2038,0.00,2.22,0.00,0.000,260,0.000,0.079,2313,3787,3964,4001,3928,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2090,-1.10,-243.3,2313,3787,3997,3927,580.6,-24.5,120,2098,0.12,2.03,0.00,0.000,3078,0.286,0.035,2339,2440,3962,3997,3927,0,0,0,0,0,0,14.67,14.95,28.83
$GC,2416,-1.10,-243.3,2339,2433,3997,3921,653.4,-20.6,133,2421,0.00,2.22,0.00,0.000,260,0.000,0.080,2332,3778,3959,3997,3921,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2534,-1.10,-243.3,2332,3778,3997,3918,673.7,-21.8,136,2541,0.00,2.03,0.00,0.000,1030,0.000,0.037,2331,2453,3957,3997,3918,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2838,-1.10,-243.3,2332,2447,3998,3911,746.2,-22.1,147,2844,0.00,2.22,0.00,0.000,260,0.000,0.084,2321,3779,3954,3998,3910,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2860,-1.10,-243.3,2322,3780,3998,3910,746.2,-22.1,147,2866,0.00,2.05,0.00,0.000,1030,0.000,0.039,2321,2453,3953,3997,3910,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3174,-1.10,-243.3,2321,2447,3997,3903,822.0,-23.2,158,3179,0.00,2.22,0.00,0.000,260,0.000,0.086,2311,3776,3950,3997,3903,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3236,-1.10,-243.3,2311,3777,3997,3902,836.8,-23.3,160,3242,0.15,2.08,0.00,0.000,3078,0.271,0.040,2344,2447,3949,3997,3902,0,0,0,0,0,0,14.65,14.92,28.83
$GC,3570,-1.10,-243.3,2344,2442,3997,3895,903.0,-19.2,171,3575,0.00,2.25,0.00,0.000,260,0.000,0.089,2337,3775,3946,3997,3895,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3632,-1.10,-243.3,2337,3775,3996,3895,915.4,-19.3,173,3638,0.00,2.08,0.00,0.000,1030,0.000,0.041,2337,2455,3945,3996,3895,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3967,-1.10,-243.3,2337,2450,3995,3889,980.6,-19.6,184,3972,0.00,2.25,0.00,0.000,260,0.000,0.092,2328,3774,3942,3995,3889,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4013,-1.10,-243.3,2327,3774,3994,3889,987.4,-19.6,185,4018,0.00,2.08,0.00,0.000,1030,0.000,0.042,2328,2451,3941,3993,3890,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4029,begin apogee
$GC,4035,-0.21,0.0,2327,2322,3994,3889,994.1,-20.1,186,4270,1.02,0.00,224.38,1.625,10246,0.228,0.000,2621,2322,3087,3116,3059,0,0,0,0,0,0,14.63,28.83,13.64
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,1.10,243.3,2621,2322,3116,3058,1007.6,0.0,194,4546,1.25,2.58,262.45,1.595,10500,0.060,0.092,3067,3752,2095,2124,2067,0,0,0,0,0,0,14.30,14.13,13.58
$GC,4628,1.10,243.3,3067,3752,2119,2058,965.2,24.5,205,4635,0.00,2.25,0.00,0.000,1030,0.000,0.041,3077,2371,2088,2119,2057,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4934,1.10,243.3,3077,2371,2119,2047,884.9,23.8,216,4939,0.00,2.33,0.00,0.000,516,0.000,0.057,3088,951,2083,2119,2047,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4967,1.10,243.3,3088,954,2119,2046,877.2,23.7,217,4973,0.15,2.35,0.00,0.000,5126,0.315,0.063,3058,2354,2082,2119,2046,0,0,0,0,0,0,14.50,14.70,28.83
$GC,5302,1.10,243.3,3058,2354,2119,2040,806.7,21.0,228,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2354,2079,2119,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,1.10,243.3,3058,2354,2119,2037,742.0,21.6,238,5606,0.00,2.30,0.00,0.000,516,0.000,0.054,3067,952,2078,2119,2037,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5668,1.10,243.3,3065,949,2118,2037,729.1,21.1,240,5673,0.00,2.33,0.00,0.000,1030,0.000,0.060,3065,2359,2077,2118,2036,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5997,1.10,243.3,3066,2359,2118,2035,656.7,21.8,251,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2358,2076,2117,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,1.10,243.3,3065,2358,2117,2033,590.5,20.6,262,6312,0.00,2.38,0.00,0.000,260,0.000,0.090,3066,3758,2075,2116,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6359,1.10,243.3,3065,3758,2116,2034,580.8,21.1,264,6364,0.00,2.22,0.00,0.000,1030,0.000,0.040,3076,2332,2075,2117,2034,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6671,1.10,243.3,3077,2327,2115,2032,510.7,21.2,280,6677,0.00,2.20,0.00,0.000,516,0.000,0.051,3086,963,2073,2115,2032,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6718,1.10,243.3,3087,962,2115,2032,501.8,20.8,282,6724,0.15,2.28,0.00,0.000,5126,0.305,0.060,3055,2348,2073,2115,2032,0,0,0,0,0,0,14.58,14.83,28.83
$GC,7037,1.10,243.3,3055,2347,2115,2029,439.9,18.4,298,7042,0.00,2.25,0.00,0.000,516,0.000,0.050,3062,961,2072,2115,2029,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7068,1.10,243.3,3062,961,2115,2029,435.6,18.5,299,7073,0.00,2.28,0.00,0.000,1030,0.000,0.058,3059,2350,2071,2114,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7381,1.10,243.3,3062,2350,2115,2028,378.5,17.8,315,7386,0.00,2.25,0.00,0.000,516,0.000,0.050,3072,955,2071,2115,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7407,1.10,243.3,2152,955,2076,2020,374.6,17.6,316,7412,0.00,2.30,0.00,0.000,1030,0.000,0.059,3072,2357,2071,2115,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7725,1.10,243.3,3072,2357,2115,2027,321.3,16.7,332,7731,0.00,2.35,0.00,0.000,260,0.000,0.086,3072,3754,2071,2115,2027,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7768,1.10,243.3,3072,3755,2115,2027,313.7,17.2,334,7773,0.00,2.20,0.00,0.000,1030,0.000,0.037,3083,2341,2071,2115,2027,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8091,1.10,243.3,3084,2335,2115,2027,260.2,16.1,350,8096,0.00,2.20,0.00,0.000,516,0.000,0.048,3093,960,2071,2115,2027,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8137,1.10,243.3,2176,959,2076,2018,253.3,15.8,352,8143,0.17,2.28,0.00,0.000,5126,0.292,0.055,3054,2359,2071,2115,2027,0,0,0,0,0,0,14.56,14.83,28.83
$GC,8456,1.10,243.3,3055,2359,2115,2027,210.0,12.8,368,8462,0.00,2.35,0.00,0.000,260,0.000,0.086,3054,3753,2071,2115,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8479,1.10,243.3,3054,3753,2115,2028,206.9,12.7,369,8484,0.00,2.17,0.00,0.000,1030,0.000,0.037,3062,2342,2071,2115,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8802,1.10,243.3,3062,2338,2115,2028,167.3,11.8,385,8807,0.00,2.20,0.00,0.000,516,0.000,0.047,3072,956,2071,2115,2028,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8945,1.10,243.3,3073,956,2123,2030,150.5,12.1,392,8951,0.00,2.28,0.00,0.000,1030,0.000,0.055,3072,2349,2072,2115,2030,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9268,1.13,256.5,3073,2349,2116,2032,112.8,10.9,408,9278,0.00,2.22,3.53,0.268,8708,0.000,0.046,3083,960,2049,2090,2008,0,0,0,0,0,0,28.83,14.86,14.33
$GC,9391,1.13,256.5,3082,961,2105,2027,98.4,11.4,414,9400,0.00,2.25,2.72,0.216,9222,0.000,0.052,3083,2351,2048,2087,2010,0,0,0,0,0,0,28.83,14.84,14.35
$GC,9713,1.45,416.7,3083,2351,2106,2026,70.0,6.0,430,9802,0.20,2.28,80.03,0.338,10756,0.115,0.045,3177,965,1393,1427,1360,0,0,0,0,0,0,14.82,14.73,14.51
$GC,9976,1.45,416.7,3177,965,1442,1369,32.5,14.9,448,9983,0.00,2.25,1.33,0.195,9222,0.000,0.050,3176,2355,1394,1433,1355,0,0,0,0,0,0,28.83,14.73,14.64
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10150,begin surface coast
$FINISH,0.1,1.021057
$STATE,10166,end surface coast,CONTROL_FINISHED_OK
$STATE,10166,begin surface
$SM_CCo,10183,28.12,0.143,0,0,1153,475.15
$SM_GC,0.18,8.05,0.15,28.12,0.054,0.120,0.143,233,2479,1153,-7.61,-0.88,475.15,0,0,0,0,0,0,14.81,14.79,14.67
$IRIDIUM_FIX,2316.83,12543.18,130613,222245
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.75
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.40
$XPDR_PINGS,1
$SC_FREEKB,3854688
$24V_AH,13.6,76.928
$10V_AH,13.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.875,106.725,574.425,28.125,0.000,30.877,33.237,253.005,0.250,0.000,38.080,1530.304,6660.971,639.782,1719.026,217.755,0.000,1422.160,0.000,1273.219,0.000,0.541,0.000
$DEVICE_MAMPS,376.380,120.105,1624.860,143.055,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.881,0.000,0.000,0.000
$MEM,328332
$DATA_FILE_SIZE,16777,480
$CAP_FILE_SIZE,127883,0
$CFSIZE,260034560,236695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,040430,2324.540,12454.849,39,1.5,39,-3.4